JP7275439B2 - Surveying system, scanner device, and surveying method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a surveying method, and more particularly to a surveying system using a ground-mounted laser scanner, a scanner device , and a surveying method.

A ground-mounted scanner device is installed on a tripod, rotates and irradiates a laser pulse light through a scanning unit, scans an object to be measured, and performs distance measurement and angle measurement for each pulse light. It is used to acquire 3D observation data including 3D point cloud data of the measurement object and to grasp the 3D shape of terrain and features.

The point cloud data obtained by the ground-mounted scanner device is a coordinate system centered on the scanner. Therefore, in order to integrate point cloud data obtained at a plurality of observation points, it is necessary to transform the obtained point cloud data into a common absolute coordinate system. Therefore, it is necessary to measure the absolute coordinates and the direction angle at the observation point of the scanner device (for example, Patent Document 1, paragraph 0008, etc.).

For this purpose, there are the method of resection and the method of backsight/instrument point, and the general procedures for these are as follows.

By reconciliation:
1. Place reflective targets at two or more known points.
2. A ground-mounted scanner is installed where the point cloud data will be observed.
3. A target scan is performed for each reflective target, and the distance and azimuth angle to the target are observed.
4. Observation of point cloud data (full dome scan).
5. A ground-mounted scanner is installed at a new location (new point) for observing point cloud data.
6. Place reflective targets at new known points as needed.
7. Repeat steps 3-6 above.
8. The coordinates of each instrument point and the instrument direction angle are obtained by the retrosection method, and each point cloud observation data is converted into coordinate values of the coordinate system used for known points.

Backsight/instrumental method:
1. A reflective target is placed at the backsight point (a known point), and a ground-mounted scanner is placed at the instrument point (a known point where the point cloud data is observed).
2. Next, a reflective target is installed at the place (new point) where the point cloud data will be observed.
3. A target scan is performed for each of the reflective target at the backsight point and the reflective target at the new point, and the distance and azimuth angle to the target are observed.
4. Observation of point cloud data (full dome scan).
5. Install the ground-mounted scanner at the new point in 2.
6. Place a reflective target as a backsight at the instrument point immediately before.
7. Repeat steps 2-6 above.
8. From the first backsight point, obtain the station coordinates (known) and azimuth, then sequentially obtain the station coordinates and azimuth, and convert the point cloud observation data at each station to the coordinate values of the coordinate system used for the known points. do.

Japanese Patent Application Laid-Open No. 2018-004401

However, in these methods, when setting up the next observation point (new point), a reflection target is set up at the new point, and two or more known points are set in the retrosection method, and It is necessary to set a reflective target at a known backsight point and perform target scanning.

The time required for target scanning was about 2 minutes for one reflective target, which was a factor that increased the time for the entire observation work.

Furthermore, the conventional method has the following problems, especially in environments such as indoors where there are many walls that block line of sight. In the posterior resection method, when two or more known points are prepared in advance in a range visible from a new instrument point, the number of known points that can be shared decreases, and the work of setting known points increases, making the work complicated.

In the backsight/instrument point method, the next station (new point) must be set within the range where the backsight can be seen. In order to obtain the necessary data, the number of observations must be increased, and the work becomes complicated.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and provides a surveying system capable of determining new points without observing known points or backsight points in surveying using ground-mounted scanners. for the purpose.

In order to solve the above-described problems, a surveying system according to one aspect of the present invention provides a target unit including a reflective target and an encoder pattern indicating a circumferential angle around a central axis of the target unit, and a range-finding light beam. a distance measuring unit that emits light and receives reflected light to perform distance measurement; a scanning unit that irradiates the distance measuring light to a measurement range; and an angle detector that detects an irradiation direction of the distance measuring light. A scanner device that acquires data and performs target scanning to acquire measurement coordinates of the reflection target , comprising: an encoder pattern reading unit that optically reads the encoder pattern; A scanner device having an arithmetic control unit for calculating a reading angle, and the target unit and the scanner device are alternatively configured to be detachably attached so as to share a central axis in the vertical direction, and the target a leveling table having a known offset angle around the central axis with respect to each of which the unit or the scanner device is mounted; calculating the direction angle of the leveling table based on the encoder pattern reading angle of and the offset angle of the target unit, and based on the measured coordinates of the reflection target of the target unit mounted on the leveling table The coordinates of the installation point of the target unit are calculated, and the arithmetic control unit replaces the target unit with the scanner device based on the offset angle of the scanner device and the directional angle of the leveling table . It is characterized in that the directional angle of the scanner device when attached to the leveling table can be calculated.

Further, a scanner device according to another aspect of the present invention includes a distance measuring unit that transmits distance measuring light and receives reflected light to perform distance measurement, and a scanning unit that rotates and irradiates the distance measuring light to a measurement range. and an angle detector for detecting the irradiation direction of the range-finding light, and a reflective target provided in a target unit detachably attached to a leveling table so as to share a central axis in the vertical direction. Equipped with an encoder pattern reading unit that optically reads an encoder pattern that indicates the circumferential angle around the central axis of the target unit, and an arithmetic control unit. wherein the leveling table has a known offset angle about the central axis when the scanner device or the target unit is attached, and the arithmetic control unit receives point cloud data and calculating the measurement coordinates of the reflection target by target scanning the reflection target, and calculating the encoder pattern reading angle from the reading result of the encoder pattern of the target unit attached to the leveling table. , the direction angle of the leveling table is calculated based on the encoder pattern reading angle and the offset angle of the target unit, and the target unit is calculated based on the measured coordinates of the target unit installed on the leveling table. is calculated, and based on the offset angle of the scanner device and the directional angle of the leveling table, the scanner device is mounted on the leveling table instead of the target unit . , the directional angle of the scanner device can be calculated.

In a surveying method according to another aspect of the present invention, (a) a scanner device attached to a leveling table installed at a point P _i having known coordinates and a direction angle is configured to perform the leveling of the scanner device. calculating the directional angle of the scanner _device based on the offset angle θ _S about _the vertical center axis with respect to the platform; target-scanning a reflective target of a target unit attached to a target unit and calculating measurement coordinates of the reflective _target ; (d) calculating _an encoder pattern reading angle θ _E based on the reading _result ; , calculating the azimuth angle of the trident at the point P _i+1 ; and (e) calculating the coordinates of the point P _i+1 based on the azimuth angle of the trident at the point P _i+1 and the measured coordinates. (f) if there is a point to be observed next, the step of moving the scanner device to the point P _{i+1 whose} coordinates and direction angle are known in steps (a) to (e); , (g) after step (f), repeating steps (a)-(e) with i=i+1, wherein said target unit comprises said reflective target and said encoder pattern, said encoder pattern indicates a circumferential angle around the central axis of the target unit, and the leveling table is detachable so that the target unit and the scanner device can alternatively share a vertical central axis. wherein said offset angle of said target unit and said offset angle of said scanner device are each known.

In a point where the coordinates and direction angles are known by using the surveying method according to the above aspect, it is also preferable that (h) the scanner device acquires point cloud data of the measurement range.

In this specification, the term "encoder pattern" refers to a pattern having angle information with a reference point of 0°. The pattern may include not only a pattern detectable by natural light but also a pattern detectable by polarized light.

According to the above configuration, in surveying using a ground-mounted scanner, new points can be determined without observing known points or backsight points.

1 is a schematic configuration diagram of a surveying system according to an embodiment of the present invention; FIG. FIG. 4 is a perspective view showing a state in which the target unit according to the same form is attached to the leveling table; (a) is an enlarged perspective view of an encoder pattern portion related to the target unit of the same configuration, and (b) is a view of the encoder pattern of the encoder pattern portion cut open at a reference point and developed on a plane (partially omitted). is. 2 is a configuration block diagram of a scanner device according to the same embodiment; FIG. FIG. 5 is a schematic diagram for explaining the mechanism of transmission and reception in the distance measurement unit and the encoder pattern reading unit of the scanner device according to the same embodiment; (a) is a perspective view of the leveling stand according to the same embodiment, and (b) is a plan view of the leveling stand. FIG. 4 is a diagram for explaining a mounting structure of a target unit of the same type and a leveling table; 4(a) to 4(c) are diagrams showing the horizontal angular relationship among the target unit, the leveling table, and the scanner device according to the same embodiment. FIG. 1 is a flow chart of one example of observation of point cloud data using a survey system of the same type; (a) to (d) are diagrams for explaining the arrangement of the scanner device and the target unit in observing the point cloud data of the above example. 10 is a flow chart of reading an encoder pattern in observing the same point group data; (a) is a diagram for explaining the scanning position of the encoder pattern by the scanner device of the same configuration, and (b) is a graph showing the result of outputting the reflected scanning light as the received light amount distribution.

Preferred embodiments of the present invention will be described with reference to the drawings. In the following description of the embodiments, the same components are denoted by the same reference numerals, and overlapping descriptions are omitted. In addition, in each figure, for convenience of explanation, the constituent parts are appropriately enlarged and schematically shown, and do not reflect actual ratios.

Embodiment 1. Overall Configuration of Surveying System FIG. 1 is a diagram showing a schematic configuration of a surveying system 100 for implementing a surveying method according to an embodiment of the present invention. A surveying system 100 includes a target unit 10 , a scanner device 30 and a leveling platform 70 .

2. Configuration of Target Unit As shown in FIG. 2, the target unit 10 includes a reflective target 11, a support member 12, an encoder pattern portion 13, and a base portion 14, and is detachably attached to a leveling table 70 attached to the tripod 2. and is held vertically.

The reflective target 11 is, for example, a so-called omnidirectional prism configured by radially combining a plurality of triangular pyramidal prisms. reflect to That is, the reflective target 11 reflects the ranging light from the scanner device 30 toward the scanner device 30 . The reflective target 11 is not limited to an omnidirectional prism, and a normal prism used for surveying may be used.

The support member 12 is, for example, a cylindrical member made of metal or resin and extending upward from the base portion 14 with a certain length. The encoder pattern portion 13 and the reflective target 11 are fixedly supported so that the central axis A passes through the center O of the reflective target 11 and the (base 13A) center _OE (FIG. 3A) of the encoder pattern portion 13. there is Further, the common central axis of the base 13A and the central axis A of the support member 12 are configured to pass through the center O of the reflection target 11. As shown in FIG. That is, the central axis A of the support member 12 is the central axis of the target unit 10 .

The encoder pattern portion 13 is configured by providing an encoder pattern 13B on the side peripheral surface of a short cylindrical base 13A. The base 13A is attached to the support member 12 by, for example, screwing a threaded portion (not shown) formed on the outer periphery of the support member and a screw hole (not shown) formed in the center of the base 13A. and the reflective target 11 .

The encoder pattern 13B includes an angle information portion 131 and a width information portion 132 adjacent above the angle information portion 131 .

As shown in FIGS. 3A and 3B, the angle information section 131 includes, for example, a narrow black vertical line 131a having a width _w1 and a wide black vertical line 131a having a width _w2 on a white background. The lines 131b and 131b are bar code-like patterns arranged at an equal pitch p so as to generate an M-sequence cyclic random number code, with the vertical line 131a set to "0" and the vertical line 131b set to "1". The encoder pattern 13B has an angle (hereinafter referred to as ₍ referred to as "reading angle of encoder pattern"). .

The angle information part 131 is configured to be able to achieve a desired resolution by changing the number of bits.

Bit patterns are not limited to M-sequence codes, and bit patterns such as Gray code and pure binary code can be used, and these can be generated by known techniques. However, the use of the M-sequence code is advantageous because the number of bits can be increased without increasing the number of tracks, and high resolution can be achieved with a simple configuration.

The width information portion 132 includes a black band 132a having a predetermined height _h1 and a white band 132b having the same height. Each of the black band 132a and the white band 132b extends over the entire circumference of the encoder pattern portion 13 in the circumferential direction.

The encoder pattern 13B can be provided on the encoder pattern portion 13 by various known methods used for forming patterns. For example, the encoder pattern 13B may be printed on white paper by a general printing method such as inkjet printing, and attached to the side peripheral surface of the base 13A. According to such a method, the encoder pattern portion 13 can be formed by an extremely inexpensive and simple method. Alternatively, the encoder pattern 13B may be provided by printing directly on the resin base 13A. Alternatively, the encoder pattern 13B may be provided on the metal base 13A by a technique such as painting or vapor deposition.

In the illustrated example, the width information section 132 is arranged above and adjacent to the angle information section 131 . However, the positional relationship between the angle information section 131 and the width information section 132 is not limited to this, and the width information section 132 may be arranged below the angle information section 131 .

Further, the encoder pattern portion 13 is arranged below and adjacent to the reflective target 11 . However, the positional relationship between the encoder pattern portion 13 and the reflective target 11 is not limited to this. Other arrangements may be used as long as the

That is, the encoder pattern portion 13 may be arranged above the reflective target 11 . Also, the encoder pattern portion 13 and the reflective target 11 may be spaced apart from each other.

The base portion 14 is a columnar member made of, for example, metal or resin and having a larger diameter than the support member 12, and is provided coaxially with the support member 12. The base portion 14 is aligned with the base mounting hole 74 of the leveling table 70. have dimensions. Engagement projections 15a, 15b, and 15c (FIG. 7) that engage with engagement holes 76a, 76b, and 76c of the leveling table 70, respectively, are formed on the bottom surface of the base portion 14 so as to be aligned with the central axis of the support member 12. Three locations are provided at equal intervals with respect to A in the circumferential direction.

Further, positioning projections 16 are provided on the side peripheral surface of the base portion 14 so as to protrude in the radial direction.

3. Configuration of Scanner Device FIG. 4 is a configuration block diagram of the scanner device 30 . The scanner device 30 is a so-called laser scanner, and includes a distance measuring section 31, an encoder pattern reading section 32, a rotating mirror 33, a vertical rotation driving section 34, a vertical angle detector 35, a horizontal rotation driving section 36, and a horizontal angle detector 37. , a storage unit 38 , a display unit 39 , an operation unit 41 , an arithmetic control unit 42 and an external storage device 43 .

1, the scanner device 30 is installed via a leveling table 70 attached to the tripod 2, similarly to the target unit 10. As shown in FIG. The scanner device 30 includes a base portion 6a detachably attached to a leveling table 70, a mount portion 6b provided on the base portion 6a so as to be horizontally rotatable about an axis HH by 360°, and a mount portion 6b. The recessed portion 8 is provided with a telescope portion 6c vertically rotatable about the axis VV.

The base portion 6a accommodates a horizontal rotation driving portion 36 and a horizontal angle detector 37 for detecting a rotation angle about an axis HH for horizontal rotation. The horizontal rotation drive unit 36 is, for example, a motor, and the horizontal angle detector 37 is, for example, a rotary encoder. The horizontal rotation drive section 36 rotates the mounting section 6b around the horizontally rotating axis HH, and the horizontal angle detector 37 rotates the base section 6a of the horizontally rotating axis HH of the mounting section 6b. , and outputs a detection signal to the arithmetic control unit 42 .

Also, the bottom portion of the base portion 6 a has the same configuration as the bottom portion of the base portion 14 of the target unit 10 . That is, it is molded in a columnar shape that matches the base mounting hole 74 of the leveling table 70, and on the bottom surface thereof, engaging projections 61a, 61b, and 61c that match the engaging holes 76a, 76b, and 76c of the leveling table 70. (See FIG. 8(c)). Moreover, a positioning protrusion 62 is provided on the side peripheral surface thereof.

A vertical rotation driving section 34, a vertical angle detector 35, a storage section 38, and an arithmetic control section 42 are provided in the frame section 6b. Also, the display section 39 and the operation section 41 are provided outside the support section 6b.

The vertical rotation driving unit 34 is a motor, and is provided on a vertical rotation axis VV. The rotation of the vertical rotation driving section 34 causes the telescope section 6c to rotate all around in the vertical direction. The vertical angle detector 35 is, for example, a rotary encoder. The vertical angle detector 35 is provided on the vertical rotation axis VV, detects the rotation angle around the axis VV, and outputs a detection signal to the arithmetic control unit 42 .

The telescope unit 6c accommodates a distance measuring unit 31 and an encoder pattern reading unit 32. As shown in FIG. A lens barrel (not shown) having a rotating mirror 33 is provided inside the telescope portion 6c, and the axis for horizontally rotating this lens barrel is the axis H− for horizontally rotating the mount portion 6b. coaxial with H. The lens barrel is attached to the telescope section 6c by appropriate means.

FIG. 5 is a diagram for explaining the mechanism of transmitting and receiving the distance measuring light 3 and the encoder pattern reading light 4 in the distance measuring section 31 and the encoder pattern reading section 32 of this embodiment. The distance measuring unit 31 includes a distance measuring light transmitting unit 44 , a distance measuring light receiving unit 45 , a beam splitter (not shown), a distance measuring light mirror 46 , a distance measuring light condensing lens 47 and a rotating mirror 33 . and a distance measuring light transmitting/receiving optical system 48 . The distance measuring light transmitter 44 includes a light emitting element (not shown).

The light emitting element is, for example, a semiconductor laser or the like, and emits a pulsed laser beam as the distance measuring light 3 . The emitted distance measuring light 3 is reflected by the distance measuring light mirror 46 and further reflected by the rotating mirror 33 to irradiate the object to be measured. The rotating mirror 33 is a double-sided mirror, and is driven by the vertical rotation driving section 34 to rotate about the vertical rotation axis VV. Therefore, the rotating mirror 33 and the vertical rotation driving section 34 constitute a scanning section 63 for scanning the distance measuring light. The rotating mirror 33 is, for example, a rectangular or circular plate-shaped perforated double-sided mirror, but is not limited thereto.

Then, the distance measuring light 3 a retroreflected by the object to be measured passes through the rotating mirror 33 , the distance measuring light mirror 46 and the distance measuring light condensing lens 47 and enters the distance measuring light receiving section 45 . The distance measuring light receiving section 45 is, for example, a light receiving element such as a photodiode. A part of the distance measuring light split by the beam splitter is incident on the distance measuring light receiving section 45 as an internal reference light (not shown). Based on the reference light, the arithmetic control unit 42 obtains the distance to the irradiation point.

The distance measuring light is two-dimensionally scanned by cooperation between the vertical rotation of the rotating mirror 33 and the horizontal rotation of the mounting portion 6b. Distance measurement data for each pulsed light is obtained by the distance measurement unit 31 , and angle measurement data for each pulsed light is obtained by the vertical angle detector 35 and the horizontal angle detector 37 . A full dome scan is performed by rotating 270 degrees including the zenith in the vertical direction and 360 degrees in the horizontal direction to acquire three-dimensional point cloud data of the measurement range.

On the other hand, the encoder pattern reading unit 32 includes a reading light transmitting/receiving optical system 55 having a reading light transmitting unit 51 , a reading light receiving unit 52 , a reading light mirror 53 and a reading light condenser lens 54 . The reading light transmitting unit 51 includes a light emitting element (not shown), and emits a light beam having a wavelength different from that of the distance measuring light 3, such as visible light, as the encoder pattern reading light 4. FIG. The emitted encoder pattern reading light 4 is reflected by the reading light mirror 53 . Further, the light is reflected by the rotary mirror 33 and irradiated onto the encoder pattern 13B. The reading light 4 is reflected by the back side of the surface of the rotating mirror 33 that reflects the distance measuring light 3 .

Then, the reading light 4a reflected by the encoder pattern 13B passes through the rotating mirror 33, the reading light mirror 53 and the reading light condensing lens 54 and enters the reading light receiving section 52. FIG. The reading light receiving section 52 is, for example, a light receiving element such as an avalanche photodiode. A received light signal input to the reading light receiving section 52 is output to the arithmetic control section 42 as a received light amount distribution.

The storage unit 38 is, for example, a hard disk drive, and stores various programs for operating the scanner device 30 . For example, a sequence program for executing distance measurement and angle measurement, a point that drives the scanning unit to rotate the distance measurement light, performs distance measurement and angle measurement calculations for each point, and obtains point cloud data. A group data measurement program, a target scan program that scans around the target and calculates the coordinates of the reflection target 11, an encoder pattern reading angle calculation program that reads the encoder pattern and calculates the encoder pattern reading angle _θE , and an encoder pattern reading angle _θE . and a coordinate calculation program for calculating the coordinates of the scanner device 30 based on the measured coordinates of the reflection target 11 and the direction angle of the scanner device. The storage unit 38 also stores the correlation between the bit pattern indicated by the encoder pattern and the angle, for example, as a table.

The display unit 39 is, for example, a liquid crystal display, and displays work situation data, measurement results, and the like obtained by the arithmetic control unit 42 .

The operation unit 41 is a touch display, a keyboard, or the like, and inputs an operation command to the scanner device.

The arithmetic control unit 42 is a microcontroller in which, for example, a CPU, ROM, RAM, etc. are mounted on an integrated circuit. The arithmetic control unit 42 includes the distance measuring unit 31, the encoder pattern reading unit 32, the vertical rotation driving unit 34, the vertical angle detector 35, the horizontal rotation driving unit 36, the horizontal angle detector 37, the storage unit 38, the display unit 39, and the It is electrically connected to the operation unit 41 .

The arithmetic control unit 42 receives angle detection signals from the vertical angle detector 35 and the horizontal angle detector 37, and also receives light reception signals from the distance measuring light receiving unit 45 and reading light receiving unit 52. FIG. again. A signal is input from the operation unit 41 by the operator's operation .

Further, the arithmetic control unit 42 drives the distance measuring light transmitting unit 44, the reading light transmitting unit 51, the vertical rotation driving unit 34, and the horizontal rotation driving unit 36, and also displays the work status, measurement results, etc. 39.

Further, the arithmetic control unit 42, as a functional unit, executes a target scan for intensively irradiating the range around the reflective target with the range-finding light to measure the range and angle, and obtains the range-finding and angle data. , a target scan execution unit 56 that calculates the measurement coordinates of the reflection target, and a measurement object (range) is irradiated with the range-finding light, and the results of range-finding and angle-measurement are calculated for each point. A point cloud data acquisition unit 57 that acquires point cloud data, an encoder pattern reading angle calculation unit 58 that calculates an encoder pattern reading angle θ _E from the result of encoder pattern reading, an offset angle θ _T of the target unit 10 and the scanner device 30 direction angle calculator 59 for calculating the direction angle based on the offset angle θ _S and the encoder pattern reading angle θ _E ; and a coordinate calculation unit 60 for calculating

The external storage device 43 is, for example, a memory card, a hard disk drive, a USB memory, or the like, and may be fixedly provided in the arithmetic control unit 42 or may be detachably provided. The external storage device 43 also stores reflection target measurement data, point cloud data, angle measurement data, encoder pattern reading data, and the like.

4. Configuration of Leveling Table The leveling table 70 is a pedestal for alternatively installing the target unit 10 or the scanner device 30, and has an automatic leveling function. As shown in FIG. 6(a), the leveling table 70 includes a tripod mounting seat portion 71 for mounting a tripod, a leveling device body 72, a tripod mounting seat portion 71, and a leveling device body 72. It is roughly composed of one leveling screw 73 .

The leveling device main body 72 includes a tilt sensor, a leveling screw drive mechanism, a control unit, and the like (not shown). to adjust the leveling screw 73. As the automatic control mechanism of the leveling device main body 72, a known configuration can be used as appropriate, so detailed description thereof will be omitted. Further, the leveling device body 72 is provided with a spirit level 77 for checking the horizontal state.

As shown in FIG. 6(b), the upper surface of the leveling device body 72 has a base mounting hole 74 for installing the target unit 10 or the scanner device 30. As shown in FIG. The base mounting hole 74 has three engaging holes 76a and 76b at intervals of 120° in the circumferential direction around an installation location 75 for a centripetal laser device (not shown) provided in the center. , 76c are provided. Also, an alignment groove 78 is formed at one location in the outer edge of the leveling device main body 72 .

As shown in FIG. 7, the target unit 10 is circumferentially positioned by engagement holes 76a, 76b, 76c and a matching groove 78, and attached to the leveling table 70 so as to share a vertical central axis. . Further, the target unit 10 is detachably locked to the leveling table 70 by pressing one engaging protrusion 15a with a locking mechanism of a plate spring (not shown).

The mounting structure of the scanner device 30 to the leveling table 70 is also the same as the mounting structure of the target unit 10 .

As a result, when the target unit 10 is installed on the level table 70 in the state shown in FIG _. (Hereinafter, referred to as "the direction D _L of the leveling table 70"), the direction is shifted counterclockwise in the circumferential direction by an angle θ _T (hereinafter referred to as "the offset angle θ _T of the target unit 10") ( FIG. 8(a)). In FIG. 8, symbols O _T , O _L , and O _S indicate the centers of the target unit 10, the level table 70, and the scanner device 30, respectively.

Similarly, when the scanner device ₃₀ is installed on the leveling table ₇₀ in the state shown in FIG. It is a direction shifted counterclockwise in the circumferential direction by a predetermined angle θ _S (hereinafter referred to as “offset angle θ _s of the scanner device 30”) from the direction D _L of the base 70 (FIG. 8(c)).

Here, the clockwise angles of the reference direction RD of the target unit 10, the direction D _S of the scanner device 30, and the direction D _L of the leveling table 70 with respect to north are the direction angle of the target unit 10 and the direction angle of the scanner device 30, respectively. , is the directional angle of the leveling table 70 .

The offset angle _.theta.T of the target unit 10 and the offset angle _.theta.S of the scanner device 30 are known in advance by measurement or design, and are stored in the storage unit . When the scanner device 30 is installed at a known point and the encoder pattern reading angle θ _E is read with the direction angle set to a known value α, the encoder pattern reading angle θ _E can be expressed as a function of α. Therefore, the directional angle of the leveling table 70 can be obtained based on the encoder pattern reading angle θ _E and the offset angle θ _T of the target unit 10 . Furthermore, once the azimuth angle of the leveling table 70 is determined, the azimuth angle of the scanner device 30 attached to the leveling table 70 can be determined based on the offset angle θ _S of the scanner device 30 .

The above setting of the direction _DL of the leveling table 70 and the direction Ds of the scanner device 30 is an example in the present embodiment. , 76c, and the horizontal angle around the central axis A is set to a predetermined angle, the reference direction RD of the encoder pattern portion 13, the direction DL of the leveling table 70 _{, and} the direction D of the scanner device 30 are determined. It becomes possible to make _S into a fixed relationship.

The vertical positional relationship between the reflective target 11 and the scanner device 30 of the target unit 10 and the leveling table 70 is fixed, and the positional relationship in the vertical direction is known. By obtaining the center coordinates of the reflection target 11 attached to the table 70, the coordinates of the level table 70 are obtained. It is designed to be

5. Survey of observation points and observation of point cloud data 5-1. Overall Operation FIG. 9 is a flow chart when surveying observation points and observing point cloud data using the surveying system 100 according to the present embodiment.

As an example, a case of observing point cloud data of the space shown in FIG. 10 will be described. In the figure, ▲ indicates a known point, ○ indicates a new observation point, ● indicates an observation point whose coordinates have been determined by measurement, and ★ indicates a point for which point cloud data acquisition (full dome scan) has been completed. . Each point is fitted with a leveling table 70 pre-mounted on a tripod. The letters T and S attached to each point indicate whether the target unit 10 or the scanner device 30 is attached to the leveling table 70 at each point. An arrow indicates that the scanner device 30 set at the starting point of the arrow has target-scanned the reflection target 11 set at the end point.

The values of the offset angle _θT of the target unit 10 and the offset angle θs of the scanner device 30 are known in advance by measurement or design, and are stored in the storage unit 38 . Also, the coordinates and azimuth angle of the leveling table installed at the first observation point _P0 are determined by the backsight point/instrument point method.

When observation is started, first, in step S101, the scanner device 30 is attached to the level table 70 set at the first observation point P ₀ (x ₀ , y ₀ , z ₀ ) which is a known point. At this time, the target unit 10 is installed at the backsight point A (FIG. 10(a)).

Next, in step S102, the scanner device 30 scans the reflection target 11 at the backsight point A, and the measurement coordinates of the reflection target 11 are obtained.

Next, in step S103, the calculation control unit 42 calculates the directional angle of the scanner device at the point P ₀ and the coordinates P ₀ (x ₀ , y ₀ , z ₀ ) of the map coordinate system.

Steps S101 to S103 are the same as in the conventional method, and two or more known points may be prepared, not limited to the backsight point/instrument point, and a point with unknown coordinates may be used as the first observation point to perform the posterior resection method. . In this case, in step S102, target scanning of known points is performed, and in step S103, based on the result, the direction angle of the first observation point P ₀ (the scanner device 30 installed at it) is calculated, and the coordinates of the map coordinate system are calculated. to calculate

Next, in step S104, the operator attaches the target unit 10 (reflecting target 11) to the level table 70 set at the new point _P1 , which is the next observation point, and inputs that effect from the operation unit.

Next, in step S105, the scanner device 30 performs target scanning on the reflection target 11 placed at the point _P1 , and obtains the measurement coordinates of the center of the reflection target 11. FIG.

Next _, in step S106, the coordinate calculation unit ₆₀ calculates the coordinate ( _{x 1} , y ₁ , z ₁ ).

Next, in step S107, the scanner device 30 reads the encoder pattern 13B and calculates the encoder pattern reading angle _θE . The details of reading the encoder pattern 13B will be described later.

Next, in step S108, the direction angle calculator 59 calculates the direction angle of the leveling table 70 at the point _P1 based on the encoder pattern reading angle θ _E and the offset angle θ _T of the target unit 10 .

Next, in step S109, the scanner device 30 executes the point cloud data acquisition mode to perform full dome scanning.

Next, in step S110, scanner device 30 determines whether or not there is a point to be measured next.

If there is a point to be measured next (Yes), in step S111, the operator removes the target unit 10 from the leveling table 70 of the point _P1 , and places the target unit 10 on the leveling table 70 of the next observation point _P2 . to install. The target unit 10 at point _P2 may be a new target unit. At this time, the scanner device 30 may display a message or the like prompting the operator to move the scanner device on the display unit 39 . Then, the operator removes the scanner device 30 from the level table 70 at the point P0 and _attaches it to the level table 70 at the point _P1 .

In step S111, when the operator inputs the completion of movement from the operation unit 41, the scanner device 30 sets the information of the instrument point to i= 1 , proceeds to step S112, and moves to step S112. and the offset angle θ _S of the scanner device 30, the directional angle of the scanner device is calculated. At this time, in step S108, the calculation of the direction angle of the leveling table 70 is omitted, and directly from the encoder pattern reading angle θ _E , the offset angle θ _T of the target unit 10, and the offset angle θs of the scanner device 30 A direction angle of the scanner device 30 may be calculated.

The process then returns to step S104 (FIG. 10(b)). Here, the operator attaches the target unit 10 to the leveling table 70 at the point _P2 and inputs to the scanner accordingly.

In this way, steps S111, S112 and steps S104 to S110 are repeated until there is no next observation point in step S110, and points P ₂ , P ₃ and proceed with the measurement.

Then, if there is no next observation point in step S110 (No), the observation ends.

Direction angles, coordinate data, and the like obtained by target scan, full dome scan, encoder pattern reading, and various calculations are stored in the storage unit 38 or output to the external storage device 43 in association with observation point information. be done. Alternatively, the scanner device 30 may be provided with a communication unit to transmit these data to an external data processing device such as a personal computer.

After transferring the point cloud data at each observation point, the coordinate data of the observation point, and the direction angle data of the scanner device 30 to an external data processing device, the point cloud data is converted into an absolute coordinate system, and a three-dimensional shape is obtained by integration processing. data is obtained.

Incidentally, as shown in FIG. 10(c), at _{point P2} , a plurality of target units 10 are used and attached to points _P3 and _P5, respectively. Coordinates and directional angles may be obtained for point _P5 , as continuously indicated by the dashed line.

According to the surveying system according to the present embodiment, when the coordinates and the azimuth angle are known, the coordinates of the new point are obtained by target scanning, and the encoder pattern reading angle is obtained. Even if the target is not scanned, the azimuth angle of the leveling table at the new point can be obtained, and the azimuth angle of the scanner device attached to the leveling table can be obtained. Therefore, with the exception of the first observation point, there is no need to target-scan backsight points or known points to obtain the coordinates and azimuth angles of new points, thus reducing survey time.

For example, assuming the surveying in the space of FIG. 10, according to the conventional backsight and instrument point method, it is necessary to observe the backsight at each point _. 2 times for P ₁ and P ₃ , 3 times for point P ₂ , and 1 time for points P ₄ and _{P 5} ), but only 6 times in this embodiment. Therefore, the time required for target scanning can be shortened, and as a result, the time required for the entire observation can be shortened.

This is particularly useful in spaces with poor visibility, such as indoors, such as in FIG. is advantageous.

This is because, for example, assuming surveying in a space as shown in FIG. 10 by the conventional posterior resection method, it is difficult to prepare two or more known points for each new point. In order to prepare two or more known points, it is necessary to increase the number of observation points, which complicates the installation of observation points and increases the time required for the entire observation. On the other hand, according to the present embodiment, it is only necessary to have line-of-sight between a new point and the next new point, and there are few restrictions for creating a new point. Therefore, there is no need to perform known point installation work or observation work more than necessary.

Further, as described above, if the surveying system according to the present embodiment obtains point cloud data using a scanner device installed at an observation point whose coordinates and direction angles are known, the point cloud data can be acquired. It is particularly advantageous because the entire observation can be made efficiently.

5-2. Reading of Encoder Pattern Here, the reading of the encoder pattern 13B in step S107 will be described with reference to FIGS.

When the reading of the encoder pattern is started, in step S201, under the control of the arithmetic control unit 42, the reading light transmitting unit 51 sends out the reading light 4, and the surroundings of the encoder pattern unit 13 are shown, for example, in FIG. 12(a). Scanning is performed at intervals of height h ₃ .

The arithmetic control unit 42 sets scan conditions based on the distance measurement data of the reflection target 11 and the known dimensions of the encoder pattern portion 13 acquired in step S105.

For example, the height h ₃ is shorter than the height h ₁ (FIG. 3B) of the black band 132a and the white band 132b of the width information section 132 and the height h ₂ (FIG. 3B) of the vertical lines 131a and 131b. If it is shorter than half h ₂ /2 of 3(b)), both the width information portion 132 and the angle information portion 131 can be reliably scanned, which is preferable.

Next, in step S202, the reading light reflected by the encoder pattern 13B is received by the reading light receiving section 52, and the received light signal is output to the arithmetic control section 42 as the received light quantity distribution. The light reflected by the black portion of the encoder pattern is received as weak light, and the light reflected by the white portion is received as strong light. Therefore, the received light quantity distribution at each position of IV in FIG. 12(a) is as shown in FIG. 12(b), for example.

Next, in step S203, the reading result of the width information portion 132 is extracted from the received light amount distribution acquired in step S202. Specifically, an area corresponding to a received light amount smaller than a predetermined threshold value is determined as a black portion, and an area corresponding to a received light amount greater than the predetermined threshold value is determined as a white portion, and a black portion is determined. At least one of the white portions is defined as a width information portion that is continuous with a length corresponding to the diameter L of the encoder pattern portion, which is calculated from the target scan result obtained in step S105 and the known dimensions of the encoder pattern portion. 132.

As a result, it can be seen that the pixel columns I and II correspond to the width information portion 132 in FIG. 12(b). Then, the center position A of the encoder pattern 13B is specified from the detected width (diameter of the encoder pattern portion 13) L of the encoder pattern 13B.

Next, in step S204, the encoder pattern reading angle calculator 58 calculates the correlation of the received light amount distribution at each position from the received light amount distribution acquired in step S202, It is extracted as the reading result of the angle information part 131 .

In the example of FIG. 12(b), the scan positions III to V have a highly correlated pattern of received light quantity distribution. Therefore, it can be seen that the received light amount distribution at the scan positions III to V is the read result of the angle information section 131 .

Then, the received light intensity distributions of the extracted scanning positions III to V are added in the vertical direction to calculate an average value. If the result is smaller than a predetermined threshold value, it is determined as a black portion, and the width of the black portion is obtained. Next, it is judged whether the obtained width value corresponds to the narrow width or the wide width of the encoder pattern 13B. read as bit "1" or vertical line 131b.

When the received light amount distribution is calculated as the average value of a plurality of positions in this way, even if noise occurs such that the horizontal position of the received light amount distribution shifts, for example, as in the scan position IV, the influence of this shift can be reduced. , can improve reading accuracy.

Since the encoder pattern portion 13 has a columnar shape, the vertical line widths w ₁ and w ₂ and the pitch p are observed to be narrower than the actual width as the distance from the center increases. For example, in FIG. 3(a), the wide vertical line 131b ₁ near the center has a width w _2a equal to the width (actual width) w ₂ of the wide vertical line 131b in the developed view shown in FIG. 3(b). observed in the same width as On the other hand, the width _w2b of the wide vertical line _131b2 farthest from the central portion is observed to be narrower than the actual width _w2 . The same is true for width _w1 and pitch p. Therefore, widths _w1 and _w2 are preferably set so that the range of variation of widths _w1 and _w2 does not overlap, taking into account the effect of observed width variation due to placement.

Next, in step S205, the encoder pattern reading angle calculator 58 calculates the bit pattern included in the predetermined width R extending left and right from the center position A of the encoder pattern 13B obtained in step S203, that is, the area of the predetermined width R. A bit pattern indicated by vertical lines of a predetermined number of bits (for example, 10. In the illustrated example, the bit pattern is "11010010100"), and the correlation between the bit pattern stored in the storage unit 38 and the angle. By comparing with , the reading angle θ _E of the encoder pattern is calculated. Next, the process moves to step S107.

6. Modifications The following modifications can be added to the above embodiment.
For example, the encoder pattern 13B is not limited to black and white, and the encoder pattern may be configured by a combination of colors having clear contrast. In addition to the visible light, the encoder pattern may be configured to be identifiable by polarized light, and a polarizing filter may be provided on the optical path of the encoder pattern reading light receiving section so that the pattern can be recognized.

Alternatively, instead of the encoder pattern reading unit, a camera may be provided to pick up an image of the surroundings of the encoder pattern 13B and read the encoder pattern from the pixel value pattern.

Although the embodiment of the present invention has been described above with reference to the embodiment, the above embodiment is an example, and it is possible to combine them based on the knowledge of those skilled in the art. Further, the above embodiments can be modified in various ways without departing from the scope of the invention. Moreover, it goes without saying that the scope of rights of the present invention is not limited to the above embodiments.

10 Target unit 11 Reflective target 13B Encoder pattern 30 Scanner device 31 Rangefinder 32 Encoder pattern reader 35 Vertical angle detector (angle detector)
37 horizontal angle detector (angle detector)
42 arithmetic control unit 63 scanning unit 70 leveling table 100 surveying system

Claims (4)

a target unit comprising a reflective target and an encoder pattern indicating circumferential angles about the central axis of the target unit;
A distance measuring unit that transmits distance measuring light and receives reflected light to perform distance measurement, a scanning unit that irradiates the distance measuring light to a measurement range in a rotating manner, and an angle detector that detects the irradiation direction of the distance measuring light. A scanner device that acquires point cloud data and performs target scanning to acquire measurement coordinates of the reflective target,
a scanner device comprising an encoder pattern reading unit that optically reads the encoder pattern, and an arithmetic control unit that calculates an encoder pattern reading angle based on the result of the encoder pattern reading;
Alternatively, the target unit and the scanner device are configured to be detachably attached so as to share a central axis in the vertical direction, and when the target unit or the scanner device is attached, the a leveling table having a known offset angle around the central axis;
The arithmetic control unit calculates the direction angle of the leveling table based on the encoder pattern reading angle of the target unit installed on the leveling table and the offset angle of the target unit, and calculates the direction angle of the leveling table. calculating the coordinates of the installation point of the target unit based on the measurement coordinates of the reflection target of the target unit installed by attaching to the
Based on the offset angle of the scanner device and the direction angle of the leveling table, the arithmetic control unit determines the direction of the scanner device when the scanner device is attached to the leveling table instead of the target unit. A surveying system characterized by being able to calculate angles. a distance measuring unit that transmits distance measuring light and receives reflected light to perform distance measurement;
a scanning unit that rotates and irradiates the range-finding light onto a measurement range;
an angle detector that detects the irradiation direction of the ranging light;
An encoder pattern indicating an angle in the circumferential direction around the central axis of the target unit, which is provided on a target unit which has a reflective target and is detachably attached to a leveling table so as to share the central axis in the vertical direction, is optically transmitted. an encoder pattern reading unit that reads the
and an arithmetic control unit,
A scanner device detachably attached to a leveling table so as to share a central axis in the vertical direction,
The leveling table has a known offset angle about the central axis when the scanner device or the target unit is attached, and the arithmetic control unit is configured to:
acquiring point cloud data and target scanning the reflective target to calculate measurement coordinates of the reflective target;
calculating the encoder pattern reading angle from the reading result of the encoder pattern of the target unit attached to the leveling table;
Based on the encoder pattern reading angle and the offset angle of the target unit, the direction angle of the leveling table is calculated, and the target unit is installed based on the measured coordinates of the target unit installed on the leveling table. Calculate the coordinates of the point,
Based on the offset angle of the scanner device and the directional angle of the leveling table, it is possible to calculate the directional angle of the scanner device when the scanner device is attached to the leveling table instead of the target unit. A scanner device characterized by: (a) A scanner device attached to a leveling table installed at a point _Pi whose coordinates and directional angle are known, based on an offset angle θ _S about the vertical central axis of the scanner device with respect to the leveling table , calculating a direction angle of the scanner device;
(b) at the point P _i , a step of target scanning the reflection target of the target unit attached to the leveling table installed at the point P _{i +1 to} be observed next, and calculating the measurement coordinates of the reflection target;
(c) the scanner device reads the encoder pattern of the target unit placed at the point P _i+1 and calculates the encoder pattern reading angle θ _E based on the reading result;
(d) calculating the directional angle of the leveling platform at the point P _i+1 based on the encoder pattern reading angle θ _E and the offset angle θ _T about the vertical center axis of the target unit with respect to the leveling platform; and,
(e) calculating the coordinates of the point P _i+1 based on the azimuth angle of the leveling platform and the measured coordinates at the point P _i+1 ;
(f) if there is a point to be observed next, moving the scanner device to the point P _i+1 whose coordinates and direction angle are known in steps (a) to (e);
(g) after step (f), repeating steps (a)-(e) with i=i+1;
the target unit comprises the reflective target and the encoder pattern;
The encoder pattern indicates a circumferential angle around the central axis of the target unit,
The leveling table is detachable so that the target unit and the scanner device can alternatively share a central axis in the vertical direction,
A surveying method, wherein the offset angle of the target unit and the offset angle of the scanner device are known. In the point that the coordinates and direction angles are known using the survey method according to claim 3 ,
(h) A surveying method, wherein the scanner device acquires point cloud data of a measurement range.

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